The forward dynamic approach is different from the inverse dynamic one, and could set up the relation between the angles and controls. The author tries to analyze the optimal rowing movement patterns between the catch and finish configurations in drive phase.
The relation between the angles and controls is collected as a set of dynamic equilibrium equations. These equations utilize a finite element time discretization, and are solved simultaneously for the time T. Finally, the moving trajectory is obtained, and also the change of the angles and controls could be found.
Source: KTH
Authors: Chen, Jing
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